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Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended 6 Months Ended
Apr. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Jan. 01, 2021
Jan. 01, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Reduction in exercise price of each warrant from public offering price for pre-funded warrants per share $ 0.0001            
Maximum ownership percentage for outstanding warrants to purchase shares of common stock to be exercised 4.99%            
Period after notice received by company maximum ownership percentage to be effective description       The revised Maximum Ownership Percentage would be effective 61 days after the notice is received by the Company      
Ownership percentage for outstanding warrants To purchase shares of common stock to be exercised to certain holders. 9.99%            
2016 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Percentage of outstanding share of common stock       4.00%      
Additional number of shares available for issuance           1,918,363 1,163,377
Common stock available for future issuance   1,001,134   1,001,134      
2016 Equity Incentive Plan | Stock Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Stock option to purchase an aggregate of common stock shares   493,500 239,400 2,161,400 1,444,400    
Weighted-average grant date fair value   $ 4.85 $ 5.01 $ 5.07 $ 5.22    
2016 Employee Stock Purchase Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Stock option to purchase an aggregate of common stock shares   0 0 38,008 25,928    
Aggregate cash proceeds from sale of shares       $ 0.2 $ 0.2    
Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Maximum ownership percentage for outstanding warrants to purchase shares of common stock to be exercised 19.99%